Qian Yuyang
/
Fly_Test1
NRF+MPU6050
Diff: main.cpp
- Revision:
- 5:6a93542b8922
- Parent:
- 4:1b985e622d26
- Child:
- 6:ad2f9458ab75
--- a/main.cpp Wed Mar 20 10:44:31 2019 +0000 +++ b/main.cpp Mon Apr 15 05:16:57 2019 +0000 @@ -1,62 +0,0 @@ -#define HIGH 1 -#define LOW 0 -#include "mbed.h" -#include <string> -typedef bool boolean; -typedef std::string String; -#include "nRF24L01P.h" -#include "MPU6050.h" - -char rxdata[12] ; -float Yaw; -float Pitch; -float Roll; -int Power; -int Yaw_t; -int Pitch_t; -int Roll_t; -long CycleCount; -long ReceiveCount; - -#define NRF24_TRANSFER_SIZE 12 -nRF24L01P nrf24_PB_15(PB_15,PB_14,PB_13,PB_6,PB_5,PB_7); -Serial Serial_2(PA_2,PA_3); -mpu6050 mpu6050_I2C_1(PB_9,PB_8); -DigitalOut myDigitalOutPA_7(PA_7); -DigitalOut myDigitalOutPA_6(PA_6); - -int main() { -nrf24_PB_15.powerUp(); -nrf24_PB_15.setTransferSize( NRF24_TRANSFER_SIZE ); -nrf24_PB_15.setReceiveMode(); -nrf24_PB_15.setRxAddress(12345ull); -nrf24_PB_15.setTxAddress(12345ull); -nrf24_PB_15.enable(); - -Serial_2.baud(9600); - -mpu6050_I2C_1.Init(); - -CycleCount = 0; -ReceiveCount = 0; -while (true) { -CycleCount = CycleCount + 1; -mpu6050_I2C_1.receiveData(&Yaw,&Pitch,&Roll); -Serial_2.printf("Yaw=%.2f, Pitch=%.2f, Roll=%.2f \n",Yaw,Pitch,Roll); -if (nrf24_PB_15.readable()) { -ReceiveCount = ReceiveCount + 1; -myDigitalOutPA_7.write((ReceiveCount % 2 == 0)); -nrf24_PB_15.read( NRF24L01P_PIPE_P0, rxdata, NRF24_TRANSFER_SIZE); -if (rxdata[0] == 82) { -Power = rxdata[1]; -Yaw_t = rxdata[2] - 45; -Pitch_t = rxdata[3] - 45; -Roll_t = rxdata[4] - 45; -Serial_2.printf("Power=%d, Yaw=%d, Pitch=%d, Roll=%d \n",Power,Yaw_t,Pitch_t,Roll_t); -} -} -myDigitalOutPA_6.write((CycleCount % 2 == 0)); -wait(0.05); -} - -} \ No newline at end of file